Control system

Bode diagram

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Group names:
1. A/rizak mohamed ahmed……31
2. A/kadir A/llahi adan…………34
3. Abukar Hassan Takow………38
4. Ahmed A/aziiz yasiin…………64
Lecturer:
ENG-mahamuud A/qadir

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Outline

part: one
Introduction to frequency response
Amplitude ratio and phase
part: two
Introduction to bode diagram
System analysis using bode diagram

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 Frequency response

• System response to sinusoidal input is known us

frequency response
• Range of frequency used
• Used for system identification
• Used for stability analysis

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Frequency response

System behavior determined from the steady state

response to sinusoidal input in the form
R =Asineᾢt
Sine wave used :
 Easy to analyse
 Easy to generate
 Easy to measure experimentally

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Cont……

Sinusoidal applied to linear system:

 Output will be sinusoidal
 Output amplitude is proportional to input
 Harmonic input produces harmonic output at same
frequency
 Variation amplitude and phase
 Function of frequency

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CONT……

If output flows input is known lag system

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 BODE DIAGRAM

PART :TWO
BODE DIAGRAM

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 INTRODUCTION

Hendrik Wade Bode (1905–1982), while working at Bell

Labs in the United States in the 1930s, devised a simple
but accurate method for graphing gain and phase-shift
plots.
These bear his name, Bode gain plot and Bode phase plot.

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 What is Bode plot?

The Bode plot is the frequency response plot of the

transfer function of a system.
Bode plot consists of two graphs:
 One is the plot of magnitude of sinusoidal transfer
function versus log .
 The other is a plot of the phase angle of a sinusoidal
function versus log .

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BODE DIAGRAM

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 BODE PLOTS

A Bode plot is a standard format for plotting frequency

response of LTI systems.
Becoming familiar with this format is useful because:
 It is a standard format, so using that format facilitates
communication between engineers.
 Many common system behaviors produce simple shapes
(e.g. straight lines) on a Bode plot, so it is easy to either
look at a plot and recognize the system behavior, or to
sketch a plot from what you know about the system
behavior.

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 cont

• That format is a log frequency scale on the horizontal axis and, on the
vertical axis, phase in degrees and magnitude in decibels. Thus, we begin
with a review of decibels:
 Decibels
Definition: for voltages or other physical variables (current, velocity, pressure,
etc.)

(Since power is proportional to voltage squared (or current, velocity,

pressure, etc.,
squared)

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 Constructing bode diagram

Constructing bode diagram

 Section of TF can be represented as straight lines =asymptotic
approximation
Example:

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Phase

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Cont…..

Phase plot :this has three asymptotes

 A LF horizontal asymptote at 0
 A HF horizontal asymptote at -45
 A mid –frequency asymptote that intersects between
HF and LF asymptote -90

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Cont…..

Each of TF has certain type of frequency response:

Building blocks:
 Gain
 Differentiator
 Integrator
 First order/second order

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 Gain………K

• Constant terms such as K contribute a straight

horizontal line of magnitude 20 log10(K)
• A positive constant, K has no effect on phase

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Differentiator…….. | j |

• A zero at the origin occurs when there is an s or j?

multiplying the numerator. Each occurrence of this
• causes a positively sloped line passing through ? = 1
with a rise of 20 db over a decade.

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Cont…….

• Effect of Zeros at the origin on Phase Angle:

• Zeros at the origin, s, cause a constant +90 degree
shift for each zero.

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Integrator………1/s or 1/jw

• A pole at the origin occurs when there are s or j?

multiplying the denominator. Each occurrence of this
• causes a negatively sloped line passing through ? = 1
with a drop of 20 db over a decade.

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Cont……

• Effect of Poles at the origin on Phase Angle:

• Poles at the origin, s -1, cause a constant -90 degree
shift for each pole.

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first order lead

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1’s order lag

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Rules for Making Bode Plots

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 Bode plots

Where do the Bode diagram lines comes from?

1) Determine the Transfer Function of the system:

2) Rewrite it by factoring both the numerator and denominator into

the standard form

where the z s are called zeros and the p s are called poles.

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Con…….

3) Replace s with j? . Then find the Magnitude of the Transfer

Function.

If we take the log10 of this magnitude and multiply it by 20 it takes

on the form of

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Example 1:

For the transfer function given, sketch the Bode log magnitude
diagram which shows how the log magnitude of the system is
affected by changing input frequency. (TF=transfer function)

Step 1: Repose the equation in Bode plot form:

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Con……..

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Example 2:

Your turn. Find the Bode log magnitude plot for the transfer
function,

Start by simplifying the transfer function form:

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Technique to get started:

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